Radar mount-angle calibration

Abstract

A device includes one or more processors configured to receive radar data, and generate a plurality of occupancy grid maps based on the radar data. Each of the occupancy grid maps corresponds to a respective one of a plurality of candidate angles. The one or more processors is also configured to select one of the candidate angles as a sensor mount angle based on the occupancy grid maps, and trigger an action based on the sensor mount angle and the radar data.

What is claimed is: 
     
       1. A device, comprising:
 one or more processors configured to:
 receive radar data; 
 generate, based on the radar data, a first occupancy grid map corresponding to a first candidate angle; 
 determine a first number of grid cells occupied for an object in the first occupancy grid map; 
 generate, based on the radar data, a second occupancy grid map corresponding to a second candidate angle; 
 determine a second number of grid cells occupied for the object in the second occupancy grid map; 
 select the first candidate angle as a sensor mount angle in response to determining that the first number is less than the second number; and 
 trigger an action based on the sensor mount angle and the radar data. 
 
 
     
     
       2. The device of  claim 1 ,
 wherein the device is configured to mount on a vehicle, and 
 wherein the one or more processors are configured to determine, based on the sensor mount angle and the radar data, a location of the object relative to the vehicle. 
 
     
     
       3. The device of  claim 1 , wherein the action is one of control of an automotive system, automated parking of a vehicle, automated driving of a vehicle, blind-spot monitoring, or control of a cruise control of a vehicle. 
     
     
       4. The device of  claim 1 , wherein the radar data comprises multiple scans of the object. 
     
     
       5. The device of  claim 4 , wherein each of the occupancy grid maps includes a position of the object according to each of the scans. 
     
     
       6. The device of  claim 1 ,
 wherein the one or more processors are configured to determine the first number by counting cells of the first occupancy grid map assigned to the object, and 
 wherein the one or more processors are configured to determine the second number by counting cells of the second occupancy grid map assigned to the object. 
 
     
     
       7. The device of  claim 1 , wherein the first candidate angle is different from the second candidate angle. 
     
     
       8. The device of  claim 1 , wherein the one or more processors are further configured to:
 generate, based on the radar data, a third occupancy grid map corresponding to a third candidate angle; 
 determine a third number of grid cells occupied for the object in the third occupancy grid map; 
 determine that the first number is less than the second number and less than the third number; and 
 select the first candidate angle as the sensor mount angle in response to determining that the first number is less than the second number and less than the third number. 
 
     
     
       9. A method, comprising:
 receiving radar signals reflected by an object; 
 generating, based on the radar signals, a first occupancy grid map corresponding to a first candidate angle; 
 determining a first number of grid cells occupied for the object in the first occupancy grid map; 
 generating, based on the radar signals, a second occupancy grid map corresponding to a second candidate angle; 
 determining a second number of grid cells occupied for the object in the second occupancy grid map; 
 selecting the first candidate angle as a sensor mount angle in response to determining that the first number is less than the second number; and 
 triggering an action based on the sensor mount angle and the radar signals. 
 
     
     
       10. The method of  claim 9 , further comprising moving a radar sensor with respect to the object while receiving the radar signals. 
     
     
       11. The method of  claim 9 , further comprising determining, based on the sensor mount angle and the radar signals, a location of the object relative to a vehicle,
 wherein receiving the radar signals occurs at a receiver mounted on the vehicle. 
 
     
     
       12. The method of  claim 9 , wherein triggering the action comprises one of controlling an automotive system, performing automated parking of a vehicle, performing automated driving of a vehicle, performing blind-spot monitoring, or adjusting a cruise control of a vehicle. 
     
     
       13. The method of  claim 9 ,
 wherein determining the first number comprises counting cells of the first occupancy grid map assigned to the object, and 
 wherein determining the second number comprises counting cells of the second occupancy grid map assigned to the object. 
 
     
     
       14. The method of  claim 9 , wherein the first candidate angle is different from the second candidate angle. 
     
     
       15. The method of  claim 9 , further comprising:
 generating, based on the radar signals, a third occupancy grid map corresponding to a third candidate angle; 
 determining a third number of grid cells occupied for the object in the third occupancy grid map; and 
 determining that the first number is less than the second number and less than the third number, 
 wherein selecting the first candidate angle as the sensor mount angle is in response to determining that the first number is less than the second number and less than the third number. 
 
     
     
       16. A vehicle, comprising:
 a radar sensor configured to receive radar signals reflected by an object; 
 one or more processors coupled to the radar sensor, and configured to:
 generate, based on the radar signals, a first occupancy grid map corresponding to a first candidate angle; 
 determine a first number of grid cells occupied for the object in the first occupancy grid map; 
 generate, based on the radar signals, a second occupancy grid map corresponding to a second candidate angle; 
 determine a second number of grid cells occupied for the object in the second occupancy grid map; 
 select the first candidate angle as a mount angle of the radar sensor in response to determining that the first number is less than the second number; and 
 control the vehicle based on the mount angle and the radar signals. 
 
 
     
     
       17. The vehicle of  claim 16 , wherein the one or more processors are configured to determine, based on the radar signals and the mount angle, a location of the object relative to the vehicle. 
     
     
       18. The vehicle of  claim 16 ,
 wherein the one or more processors are configured to determine the first number by counting cells of the first occupancy grid map assigned to the object, and 
 wherein the one or more processors are configured to determine the second number by counting cells of the second occupancy grid map assigned to the object. 
 
     
     
       19. The vehicle of  claim 16 , wherein the first candidate angle is different from the second candidate angle. 
     
     
       20. The vehicle of  claim 16 , wherein the one or more processors are further configured to:
 generate, based on the radar signals, a third occupancy grid map corresponding to a third candidate angle; 
 determine a third number of grid cells occupied for the object in the third occupancy grid map; 
 determine that the first number is less than the second number and less than the third number; and 
 select the first candidate angle as the mount angle in response to determining that the first number is less than the second number and less than the third number.